Rear-facing perception system for vehicles

ABSTRACT

Devices, systems and methods for operating a rear-facing perception system for vehicles are described. An exemplary rear-facing perception system contains two corner units and a center unit, with each of the two corner units and the center unit including a camera module and a dual-band transceiver. A method for operating the rear-facing perception system includes pairing with a control unit by communicating, using the dual-band transceiver, over at least a first frequency band, transmitting a first trigger signal to the two corner units over a second frequency band non-overlapping with the first frequency band, and switching to an active mode. In an example, the first trigger signal causes the two corner units to switch to the active mode, which includes orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent document is a continuation of U.S. patent application Ser. No. 17/325,160, filed on May 19, 2021, which is a continuation of U.S. patent application Ser. No. 16/125,531, filed on Sep. 7, 2018. The entire contents of the above patent applications are incorporated by reference as part of the disclosure of this patent document.

TECHNICAL FIELD

This document relates to vehicle monitoring and control.

BACKGROUND

Autonomous vehicle navigation is a technology for sensing the position and movement of a vehicle and, based on the sensing, autonomously control the vehicle to navigate towards a destination. Autonomous vehicle navigation can have important applications in transportation of people, goods and services. One of the components of autonomous driving, which ensures the safety of the vehicle and its passengers, as well as people and property in the vicinity of the vehicle, is precise perception of the area around the rear of the vehicle.

SUMMARY

Disclosed are devices, systems and methods for a rear-facing perception system for vehicles. In some embodiments, a self-powered and an automatically synchronizing rear-facing perception system, which includes a center unit and two corner units, is installed at the rear of a vehicle or on a semi-trailer truck (commonly referred to as a tractor-trailer or a “semi”) and provides an unobstructed of an area around a rear of the vehicle. The corner and center units wirelessly communicate with a control unit located adjacent to the driver of the vehicle.

In one aspect, the disclosed technology can be used to provide a method for operating a rear-facing perception unit in a vehicle. An exemplary rear-facing perception system contains two corner units and a center unit, with each of the two corner units and the center unit including a camera module and a dual-band transceiver. This method includes pairing with a control unit by communicating, using the dual-band transceiver, over at least a first frequency band, transmitting, upon successfully pairing, a first trigger signal to the two corner units, where the first trigger signal is transmitted over a second frequency band non-overlapping with the first frequency band, and switching, subsequent to transmitting the first trigger signal, to an active mode, where the first trigger signal causes the two corner units to switch to the active mode, where the power module includes a battery, and where the active mode includes orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.

In another aspect, the above-described method is embodied in the form of processor-executable code and stored in a computer-readable program medium.

In yet another aspect, a device that is configured or operable to perform the above-described method is disclosed. The device may include a processor that is programmed to implement this method.

The above and other aspects and features of the disclosed technology are described in greater detail in the drawings, the description and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an example of the rear-facing perception system installed on a semi-trailer truck (commonly referred to as a tractor-trailer).

FIG. 2 shows a block diagram of an example rear-facing perception system.

FIG. 3 shows a block diagram of an example center integration unit (CIU) of a rear-facing perception system.

FIG. 4 shows a block diagram of an example corner integration unit of a rear-facing perception system.

FIG. 5 shows a flowchart of an example method for manually synchronizing a rear-facing perception system.

FIG. 6 shows a flowchart of another example method for automatically synchronizing a rear-facing perception system.

FIG. 7 shows a flowchart for an example method for a wakeup process of a rear-facing perception system.

FIG. 8 shows a flowchart for an example method for a sleep process of a rear-facing perception system.

FIG. 9 shows a flowchart for an example method for operating a rear-facing perception system.

FIG. 10 shows a flowchart for another example method for operating a rear-facing perception system.

FIG. 11 shows an example of a hardware platform that can implement some techniques described in the present document.

DETAILED DESCRIPTION

Backover accidents cause thousands of injuries every year because there is a blind spot behind every car and truck. Typically, this blind spot stretches from 15 feet in smaller cars to more than 25 feet in larger pickups and SUVs, and to even longer distances for tractor-trailers. Human drivers often rely on their visual inspection of the rear of their vehicle performed prior to entering the vehicle for driving. However, autonomous vehicles do not have such a mechanism. The increasing use of autonomous vehicles makes it important to use precise perception of objects at and around the rear of a vehicle, especially in the case of tractor-trailers that maneuver around static barriers, loading docks, etc. as a part of their daily operations.

A backup camera (or more generally, a rear-facing perception system) may maintain a driver's control and visibility while operating a vehicle. For example, it can prevent backing up over someone (with toddlers and pets being particularly susceptible) or something, and may assist with parallel parking while avoiding damage to adjacent vehicles. In another example, and if the vehicle were run into by another vehicle, the rear-facing perception system may provide evidence of the incidence for insurance purposes.

A rear-facing perception system can increase the operational safety of autonomous vehicles. Unlike passenger cars, where a rear-facing camera is permanently installed in the vehicle, some applications of autonomous vehicles may use rear perception systems only occasionally. For example, in cargo delivery business, truck cabs (cabins or tractors) are often attached to different cargo holds or trailers. Therefore, it would be useful to include a rear-perception system that requires very little or no installation when a truck cab is attached to another trailer. In particular, it would be beneficial if the truck driver does not have to attach cables from the rear perception system portion on the trailer to a display and other electronics in the cabin. Easy formation and activation of rear perception system in such cases saves the truck driver the additional time and work and eliminates manual errors in connecting and setting up the system. Furthermore, transport service providers often manage a large inventory of trailers and cabins, and truck trailers may often simply sit in a parking lot when not being used. In such a case, it would be desirable if the electronics associated with a rear perception system is put to use by a simple detachment from a trailer not being used and attachment to another trailer that will be paired with a truck cabin and used.

Some desirable features of such a system may include: (i) installation capabilities on trailers of semi-trailer trucks, thereby providing complete rear perception without blind spots, (ii) low-cost and self-powered, (iii) easily installable and detachable, (iv) the ability to wirelessly communicate with the driver, (v) precisely perceive the locations of all objects in the backup route, and (vi) provide automated calibration and synchronization.

The disclosed technology in this document provides solutions that can be used to address the above and other technical issues in the rear-facing monitoring and control of fully- and semi-autonomous vehicles. FIG. 1 shows an example of the rear-facing perception system installed on a semi-trailer truck (commonly referred to as a tractor-trailer). As shown therein, a center integration unit (CIU, 125), a left corner integration unit (LIU, 135-1) and a right corner integration unit (RIU, 135-2) are mounted on the trailer 115, and a vehicle control unit (VCU, 145) and a telematics box 155 are mounted on the tractor 105 of the tractor-trailer.

In some embodiments, a subset of components of the rear-facing perception system (the CIU, LIU and RIU) shown in FIG. 1 may be advantageously installed on the rear and/or sides of the trailer to provide full rear perception coverage, with no blind spots or zones. Other advantageous features of embodiments of the disclosed technology include, but are not limited to, battery or solar panels to enable self-power capabilities (e.g., no reliance on wires or an external power source), easy installation capabilities (e.g., attached to be firmly secured, and then easily detached), wireless communication capabilities that obviate the need for complex electrical and mechanical construction, and which can support over-the-air (OTA) updates, and automated synchronization and calibration capabilities. In addition, the CIU, LIU and RIU may include a variety of different sensors whose information may be fused to enable precise detection of objects and/or people that may be present behind the vehicle.

In some embodiments, the CIU, LIU and RIU include an attachment mechanism that is configured to enable easy attachability and detachability of the integration units to the vehicle or trailer of a tractor-trailer. For example, the attachment mechanism may be a magnetic panel that may be used to easily affix the integration units to the trailer. In another example, a suction panel or a hook-and-fastener system may be used for the attachment mechanism.

FIG. 2 shows a block diagram of an example rear-facing perception system, and is one example of packing functional (e.g., communication) sub-components into the components described in the context of FIG. 1 . As shown in FIG. 2 , embodiments of the disclosed technology may support communications in a number of different frequency bands and using multiple standards. This feature advantageously provides the components (or modules) the ability to simultaneously communicate, without interfering with the communication of other components or modules.

In some embodiments, and as shown in FIG. 2 , the tractor 205 include the VCU 245, the telematics box 255, and a synchronization button 231 (for manual synchronization, which will be discussed later in this document). For example, the telematics box may include a dual-band transceiver that supports communications using the LTE standard 223 as well as radio frequency (RF) communications in an Ultra High Frequency (UHF) band 221 (e.g., using a low power device 433 MHz (LPD433)). The LTE transceiver 223 may be used by the tractor to provide the driver with updates from traffic and map services, whereas the RF-433M transceiver 221 may be used to communicate with the CIU, LIU and/or RIU that are attached to the trailer 215. In another example, the VCU 245 may include an EEPROM (electrically erasable programmable read-only memory) 224 that may be configured to store the addresses and/or IDs for each of the components of the rear-facing perception system, in order to enable transmitting data and control signals to/from each component independently.

In some embodiments, and as shown in FIGS. 1 and 2 , the trailer 215 may include the CIU 225, the LIU 235-1 and the RIU 235-2. In an example, each of the integration units may include a dual-band transceiver that supports RF communications in a UHF band as well as in a Low Frequency (LF) band. The RF-433M transceiver 221 may be used to communicate with the VCU 245 in the tractor (as indicated by the dashed lines 298), whereas the 125 kHz RFID (Radio Frequency IDentification) module 222 may be used to communicate between the integration units (as indicated by the dashed lines 299).

In some embodiments, different frequency bands and alternate wireless protocols and devices may be employed in the operation of the rear-facing perception system. For example, the VCU and integration units may use Bluetooth, Zigbee, direct short-range communications (DSRC) based on the 802.11p wireless standard, and so on.

FIG. 3 shows a block diagram of an example center integration unit (CIU) of a rear-facing perception system. In some embodiments, and as shown in FIG. 3 , the CIU may include seven modules: an ultrasonic module 311, a human-machine interaction (HMI) module 312, a radar module 313, a computing module 314, an RF module 316, a camera module 317, and a power module 318.

In some embodiments, the ultrasonic module 311 may include a left sensor 341 and a right sensor 342, which are installed on the left and right corners of the trailer, respectively. In an example, the ultrasonic module 311 may be used not only to detect the presence of objects, but to ascertain their distance from the vehicle. In some embodiments, the camera module 317 may include a normal camera 361 and/or a fisheye camera 362 (e.g., to provide extremely wide angles of view ranging from 100°-180°) to provide a view of the area around the rear of the vehicle. For example, the inputs of the ultrasonic module 311 and/or the camera module 317 may be used independently to provide precise perception of any obstacles behind the vehicle.

In some embodiments, the inputs from the camera module 317 and the ultrasonic module 311 may be combined, or fused, prior to being used for detection of obstacles and people behind the vehicle. For example, augmenting the camera module 317 with the ultrasonic module 311 enables the rear-facing perception system to accurately determine the distances of objects from the vehicle, as well as to operate in low light conditions or even in full darkness.

In some embodiments, the radar module 313 may include a 24 GHz radar module 351, which is configured to augment the camera module 317. For example, the radar module 313 is able to detect obstacles in any weather conditions. Combining the camera and radar modules enables the rear-facing perception system to accurately operate in the presence of fog or mist, thereby ensuring the safety of the autonomous vehicles even in adverse situations.

In some embodiments, the HMI module 312 may include a synchronization button 331, a warning light 332 and a warning buzzer 333. For example, and as will be discussed later in this document, the synchronization button 331 may be configured to activate the corner integration units as part of the manual synchronization process between the VCU and the CIU, LIU and RIU. In an example, the warning light 332 and warning buzzer 333 may be configured to provide a visual and aural stimulus when the rear-facing perception system is operational.

In some embodiments, the computing module 314 includes a microcontroller unit (MCU, 381) and a Micro-Electro-Mechanical System (MEMS) based Inertial Measurement Unit (IMU). For example, an IMU is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the magnetic field surrounding the body, using a combination of accelerometers and gyroscopes, sometimes also magnetometers. In an example, the MCU may control the MEMS IMU and/or other components to ensure that the rear-facing perception system is operating in an energy-efficiency manner to ensure vehicular and personnel safety.

In some embodiments, the RF module 316 includes a dual-band transceiver that supports RF communications in UHF and LF bands. The RF-433M transceiver 321 may be used to communicate with the VCU, whereas the 125 kHz RFID module 322 may be used to communicate with the LIU and RIU. In this example, the UHF and LF frequency bands are non-overlapping in frequency. In other embodiments, the dual-band communications may be orthogonal in time (e.g., using TDMA (time division multiple access)) or in structure (e.g., using CDMA (code division multiple access)).

In some embodiments, the power module 318 includes a battery 371 and/or a solar panel 372. More generally, the power module 318 is a self-powered source for the various components of the rear-facing perception system that does not require a constant connection to the power grid. In some embodiments, the power module 318 may be periodically re-charged to ensure that the various components function as intended during operation of the vehicle.

FIG. 4 shows a block diagram of an example corner unit of a rear-facing perception system. This example includes some features and/or components that are similar to those shown in FIG. 3 , and described above. At least some of these features and/or components may not be separately described in this section. In some embodiments, and as shown in FIG. 4 , the LIU and/or RIU may include five modules: an ultrasonic module 411, a computing module 414, an RF module 416, a camera module 417, and a power module 418.

In some embodiments, the camera module 417 includes mechanisms to keep the respective normal and fisheye cameras of the CIU, LIU and RIU clean. For example, a camera cleaning system may be configured to spray a cleaning solvent (or water) onto the camera lens, followed by a puff of air to dry the camera lens. In another example, the VCU may provide the driver of the vehicle with an indication or reminder to ensure that the cameras are clean prior to operating the vehicle.

FIG. 5 shows a flowchart of an example method for manually synchronizing a rear-facing perception system. A shown in FIG. 5 , the manual synchronization process 500 begins at step 510, when the synchronization button on the CIU (e.g. synchronization button 331 as shown in FIG. 3 ) is pressed. Pressing the CIU synchronization button transmits a trigger signal using, for example, the 125 kHz RFID module in the dual-band transceiver (step 530). This trigger signal may be a synchronization signal for the LIU and RIU.

In some embodiments, step 510 may be followed by pressing the synchronization button on the tractor (e.g., the synchronization button 231 in FIG. 2 , which may be located near the on-board diagnostics (OBD) port). The activation of the two synchronization buttons on the CIU and VCU, as well as the triggering of the RIU and LIU, needs to be followed by a time gap (or waiting period) of 15-30 seconds (step 540). If this waiting period is not available (e.g., due to turning off the vehicle for emergency reasons) during this manual synchronization process, the process is aborted and exits (step 570).

Typically, the manual synchronization process continues with step 550, wherein the CIU, LIU and RIU send their identification information to the VCU using, for example, the RF-433M module in the dual-band transceiver. If this process is successful (step 560), the VCU stores the IDs in the EEPROM (e.g., EEPROM 224 in FIG. 2 ). If the IDs are not successfully saved in the VCU, the manual synchronization process aborts (and exits, step 580).

FIG. 6 shows a flowchart of another example method for automatically synchronizing a rear-facing perception system. In contrast to the manual synchronization process described in the context of FIG. 5 , the automatic synchronization process shown in FIG. 6 does not require any manual intervention, and relies on the movement of components of the rear-facing perception system. For example, if a tractor-trailer with a newly installed rear-facing perception system does not need to initially move backwards (and therefore does not need the use of the rear-facing perception system), the forward movement of the tractor-trailer can trigger the automatic synchronization process as described in the context of FIG. 6 .

The automatic synchronization process 600 beings at step 610, wherein movement of the VCU is detected in the form of signals from one or more axes of the IMU of the VCU. In an example, if the detected signals correspond to an acceleration of less than 1 g (step 620), then the automatic synchronization process terminates (step 670). However, if the detected signals correspond to an acceleration of greater than or equal to 1 g (e.g., an acceleration of 1 g equates to a rate of change in velocity of approximately 35 kilometers per hour (or 22 miles per hour) for each second that elapses), then the VCU transmits a synchronization signal using, for example, the RF-433M module in the dual-band transceiver (step 630).

This synchronization signal is received by the integration units (CIU, LIU, RIU), which then transmit signals corresponding to the axes of their corresponding IMUs (e.g., IMUs 382 and 482 in FIGS. 3 and 4 , for the CIU and LIU/RIU, respectively). The IMU signals from the CIU/LIU/RIU are detected (step 640), and if they are similar to the IMU signals from the VCU (step 650), then the IDs from the integration units are stored in the VCU EEPROM (step 660, and similar to step 560 in FIG. 5 ). If, however, there is a mismatch in the IMU signals from the VCU and the integration units (step 650), the automatic synchronization process terminates (step 670). For example, the tractor may have just delivered the trailer at a loading dock, and after unhooking the trailer, is leaving from that location. In this case, the IMU signals from the tractor will register an acceleration of greater than 1 g, but the trailer IMU signals will be close to 0 g, and no synchronization will occur (as expected since the tractor is not attached to the trailer).

The manual and automatic synchronization processes described in the context of FIGS. 5 and 6 , respectively, may typically be performed when a tractor and a trailer are initially paired. As long as the same tractor-trailer combination is in operation, the synchronization process need not be repeated. On the other hand, if the trailer is replaced, then the rear-facing perception system can be detached from the original trailer, affixed to the new trailer, and either the manual or automatic synchronization process can be performed.

In some embodiments, embodiments of the disclosed technology implement wakeup and sleep processes to operate in a power-efficient manner, so as to enables the self-powered CIU, LIU and RIU to operate with frequent recharging. FIGS. 7 and 8 provide examples of the wakeup and sleep processes for the rear-facing perception system, respectively.

FIG. 7 shows a flowchart for an example method 700 for a wakeup process of a rear-facing perception system. The method 700 includes, at step 710, the VCU waking up based on an event that may be manually triggered or inferred from the operation of the vehicle. For example, if the vehicle is put in the reverse gear, the VCU automatically wakes up.

The method 700 includes, at step 720, the VCU transmitting a wakeup signal using, for example, the RF-433M module in the dual-band transceiver. In some embodiments, the wakeup signal is directed toward the CIU, which then wakes up (step 730) upon receiving the wakeup signal from the VCU.

In some embodiments, the CIU transmits a signal to the VCU in response to the wakeup signal. Additionally, the CIU sends a trigger signal (e.g., a wakeup signal that may be identical to or different from the wakeup signal received from the VCU) to the LIU and RIU using, for example, the 125 kHz RFID module in the dual-band transceiver (step 740). Upon receiving this trigger signal, the LIU and RIU wake up (step 750).

The wakeup process concludes with the VCU receiving a signal from the CIU, LIU and RIU (step 760), acknowledging their active mode of operation. Embodiments of the disclosed technology may use the wakeup process to ensure that the rear-facing perception system operates in a power-efficient manner.

FIG. 8 shows a flowchart for an example method 800 for a sleep process of a rear-facing perception system. The sleep process begins with a “sleep event” that includes the VCU detecting that the rear-facing perception system is not required (step 810). For example, if the vehicle is put into cruise control (which typically results in a prolonged period of forward motion), the VCU automatically detects this as a sleep event. In another example, the driver of the vehicle may explicitly trigger a sleep event if, for example, the tractor-trailer is in a queue at a weight station, and is not required to reverse through the entire process.

When the sleep event is detected or activated, the VCU transmits a sleep signal using, for example, the RF-433M module in the dual-band transceiver (step 820) to the integration units at the rear of the trailer. Upon receiving the sleep signal, the CIU, LIU and RIU switch to sleep mode (step 830). In some embodiments, switching to sleep mode includes the power module (e.g., 318 and 418 in FIGS. 3 and 4 for the CIU and LIU/RIU, respectively) switching off one or more modules (e.g., the ultrasonic module, the camera module, the radar module, and so on). In other embodiments, the power module may switch one or more modules into a power-saving operational mode wherein only some of the functionality of the respective models are active.

FIG. 9 shows a flowchart for an example method 900 for operating a rear-facing perception system. In some embodiments, the rear-facing perception system includes two corner units and a center unit, with each of the two corner units (LIE, RIU) and the center unit (CIU) including at least a camera module, a power module and a dual-band transceiver. The method 900, which may be implemented in a CIU, includes, at step 910, pairing with a control unit. In some embodiments, the pairing includes communicating, using the dual-band transceiver, over a first frequency band. In some embodiments, the power module comprises a battery.

The method 900 includes, at step 920, transmitting, upon successfully pairing, a first trigger signal to the two corner units. In some embodiments, the first trigger signal is transmitted over a second frequency band that is non-overlapping with the first frequency band.

The method 900 includes, at step 930, switching to an active mode after having transmitted the first trigger signal. In some embodiments, the first trigger signal causes the two corner units to switch to the active mode. In some embodiments, the active mode includes orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.

In some embodiments, and as described in the context of at least FIGS. 2-4 , the first frequency band may include a Ultra High Frequency (UHF) band (e.g., the 433 MHz frequency band) and the second frequency band, which is non-overlapping with the first frequency band, may include a Low Frequency (LF) band (e.g., the 125 kHz frequency band).

In some embodiments, and as described in the context of FIG. 5 , the pairing operation further includes transmitting a synchronization signal to the LIU and RIU over the second frequency band in response to a first manual trigger (e.g., pressing the synchronization button on the CIU), and transmitting an identification signal to the VCU over the first frequency band in response to a second manual trigger (e.g., pressing the synchronization button on the tractor).

In some embodiments, and as described in the context of FIG. 6 , the pairing operation further includes receiving a synchronization signal from the VCU over the first frequency band, and transmitting a signal corresponding to the movement of the CIU (e.g., the signal from the MEMS IMU indicating an acceleration of greater than 1 g in order to continue with the automatic synchronization process).

In some embodiments, and as described in the context of FIG. 7 , the method 900 further includes receiving, upon successfully pairing, a first wakeup signal from the VCU over the first frequency band. The CIU awakes on the reception of the first wakeup signal, and subsequently triggers the LIU and RIU over the second frequency band. Once all the integration units are awake, the VCU receives signals from the CIU, LIU and RIU, acknowledging their switching over to active mode. In an example, switching over to active mode includes orienting the camera modules of the CIU, LIU and RIU to provide an unobstructed view of the area around the rear of the vehicle.

In some embodiments, and as described in the context of FIG. 8 , the method 900 further includes transmitting a second trigger signal to the LIU and RIU over the second frequency band. In an example, the second trigger signal may be a sleep signal, and the CIU may switch over to a power-saving mode after transmitting the second trigger signal. Additionally, the second trigger signal may cause the LIU and RIU to switch to the power-saving mode.

More generally, and in some embodiments, the VCU may communicate directly with the CIU over the first frequency band. Subsequently, the CIU may communicate with the LIU and RIU (e.g., relay the information received from the VCU) over the second frequency band. In other embodiments, the VCU may communicate directly with each of the CIU, LIU and RIU.

FIG. 10 shows a flowchart for another example method 1000 for operating a rear-facing perception system. This example includes some features and/or steps that are similar to those shown in FIG. 9 , and described above. At least some of these features and/or components may not be separately described in this section. The method 1000, which may be implemented in a LIU and/or RIU, includes, at step 1010, pairing with the control unit by communicating, using the dual-band transceiver, over a first frequency band.

The method 1000 includes, at step 1020, receiving, upon successfully pairing, a trigger signal from the center unit over a second frequency band non-overlapping with the first frequency band.

The method 1000 includes, at step 1030, switching, subsequent to receiving the trigger signal, to an operating mode that matches the operating mode of the center unit. In some embodiments, the operating mode may be an active mode or a power-saving mode. For example, the power-saving mode may include turning off the camera module, and the active mode may include orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.

FIG. 11 shows an example of a hardware platform 1100 that can be used to implement some of the techniques described in the present document. For example, the hardware platform 1100 may implement the methods 900 and/or 1000, or may implement the various modules described herein. The hardware platform 1100 may include a processor 1102 that can execute code to implement a method. The hardware platform 1100 may include a memory 1104 that may be used to store processor-executable code and/or store data. The hardware platform 1100 may further include a communication interface 1106. For example, the communication interface 1106 may implement one or more of the communication protocols (LTE, Wi-Fi, and so on) described herein.

Implementations of the subject matter and the functional operations and modules described in this patent document can be implemented in various systems, digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Implementations of the subject matter described in this specification can be implemented as one or more computer program products, e.g., one or more modules of computer program instructions encoded on a tangible and non-transitory computer readable medium for execution by, or to control the operation of, data processing apparatus. The computer readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter effecting a machine-readable propagated signal, or a combination of one or more of them. The term “data processing unit” or “data processing apparatus” encompasses all apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers. The apparatus can include, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them.

A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

The processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., FPGAs (field programmable gate arrays) or ASICs (application specific integrated circuits).

Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read only memory or a random access memory or both. The essential elements of a computer are a processor for performing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto optical disks, or optical disks. However, a computer need not have such devices. Computer readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., (E)EPROM and flash memory devices. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

It is intended that the specification, together with the drawings, be considered exemplary only, where exemplary means an example. As used herein, “or” is intended to include “and/or”, unless the context clearly indicates otherwise.

While this patent document contains many specifics, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features that may be specific to particular embodiments of particular inventions. Certain features that are described in this patent document in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Moreover, the separation of various system components in the embodiments described in this patent document should not be understood as requiring such separation in all embodiments.

Only a few implementations and examples are described and other implementations, enhancements and variations can be made based on what is described and illustrated in this patent document. 

What is claimed is:
 1. An apparatus disposed on a tractor, comprising: a vehicle control unit (VCU); a transceiver; an inertial measurement unit (IMU); and a non-transitory memory; wherein the VCU is configured to: detect movement of the VCU using a signal from the IMU; transmit a synchronization signal of a synchronization process upon detecting the movement; receive, in response to the synchronization signal, one or more signals from a rear-facing perception system; compare the signal from the IMU with the one or more signals from the rear-facing perception system, and selectively continue the synchronization process with the rear-facing perception system based on a result of the comparing.
 2. The apparatus of claim 1, wherein the one or more IMU signals comprise IMU signals from a center integration unit (CIU), a left integration unit (LIU) and a right integration unit (RIU).
 3. The apparatus of claim 2, wherein the VCU is further configured to: store identifiers of the CIU, the LIU and the RIU during the synchronization process.
 4. The apparatus of claim 1, wherein the VCU is configured to discontinue the synchronization process upon detecting a mismatch between the signal from the IMU and the one or more signals from the rear-facing perception system.
 5. The apparatus of claim 1, wherein transceiver comprises a dual band transceiver configured to operate in an LTE band and an ultra high frequency (UHF) band.
 6. The apparatus of claim 1, wherein the VCU is configured to detect the movement and transmit the synchronization signal upon determining whether the signal from the IMU corresponds to an acceleration above or below a value.
 7. The apparatus of claim 1, further including a synchronization button that is configured to manually start the synchronization process upon pressing the synchronization button.
 8. A non-transitory computer readable storage medium comprising executable instructions for operating a vehicle control unit (VCU) in an autonomous vehicle that, when executed by at least one processor, cause the at least one processor to perform a method, comprising: detecting movement of the VCU using a signal from an inertial measurement unit (IMU); transmitting a synchronization signal of a synchronization process upon detecting the movement, receiving, in response to the synchronization signal, one or more signals from a rear-facing perception system; comparing the signal from the IMU with the one or more signals from the rear-facing perception system, and selectively continuing the synchronization process with the rear-facing perception system based on a result of the comparing.
 9. The non-transitory computer readable storage medium of claim 8, wherein the one or more IMU signals comprise IMU signals from three rear-facing units.
 10. The non-transitory computer readable storage medium of claim 9, wherein the method includes: storing identifiers of the three rear-facing units during the synchronization process.
 11. The non-transitory computer readable storage medium of claim 8, wherein the method includes discontinuing the synchronization process upon detecting a mismatch between the signal from the IMU and the one or more signals from the rear-facing perception system.
 12. The non-transitory computer readable storage medium of claim 8, wherein the method includes discontinuing the synchronization process upon detecting a positive acceleration from the signal from the IMU and no acceleration is registered from the one or more signals from the rear-facing perception system.
 13. The non-transitory computer readable storage medium of claim 8, wherein the method comprises detecting the movement and transmitting the synchronization signal upon determining whether the signal from the IMU corresponds to an acceleration above or below a value.
 14. A method implemented by a processor of a vehicle control unit (VCU) disposed on an autonomous vehicle, comprising: detecting movement of the VCU using a signal from an inertial measurement unit (IMU); transmitting a synchronization signal of a synchronization process upon detecting the movement, receiving, in response to the synchronization signal, one or more signals from a rear-facing perception system; comparing the signal from the IMU with the one or more signals from the rear-facing perception system, and selectively continuing the synchronization process with the rear-facing perception system based on a result of the comparing.
 15. The method of claim 14, wherein the one or more IMU signals comprise IMU signals from a center integration unit (CIU), a left integration unit (LIU) and a right integration unit (RIU) and the method comprises: storing identifiers of the CIU, the LIU and the RIU during the synchronization process.
 16. The method of claim 14, wherein the method comprises discontinuing the synchronization process upon detecting a mismatch between the signal from the IMU and the one or more signals from the rear-facing perception system.
 17. The method of claim 14, wherein the method comprises discontinuing the synchronization process upon detecting a positive acceleration from the signal from the IMU and no acceleration is registered from the one or more signals from the rear-facing perception system.
 18. The method of claim 14, wherein the method comprises detecting the movement and transmitting the synchronization signal upon determining whether the signal from the IMU corresponds to an acceleration above 1 g.
 19. The method of claim 14, further comprising: detecting occurrence of a sleep event; transmitting, upon detecting the sleep event, a sleep signal to the rear-facing perception system such that the rear-facing perception system enters a sleep mode in which operation of the rear-facing perception system is switched off.
 20. The method of claim 19, wherein the sleep event comprises putting the autonomous vehicle in a cruise control mode. 